Approximate Method Of Inverse Kimematic Analysis Of 6R Serial Robot

Robot is one of the most glorious inventions of human beings in 20 century. For its superexcellent performances, robot is widely used to industrial productions, and brings about a great economic benefit. It is predicted that with the development of robotic technology, robot will play a more important role in the human life. Inverse Kinematic analysis of General 6R Serial Robot is very important theoretical and practical significance. In this paper, based on the literature research results, 10 equations are obtained from the DH matrix, then they are used in the spatial displacement analysis of 6R Robot. A 16th order input-output equation with one unknown is obtained.A computer program is made for the inverse kinematic analysis of a general 6R serial Robot.There are so many special-dimension robots and every one of them should be analysis independently. In this paper we try to use the method of the general 6R serial robot to do the inverse kinematic analysis of the special-dimension robots. In roder to avoid singularity duaring the process, some dimensions of the robot are adjusted a little under the precision permited. Regarding the special-dimension robots as general 6R robots within the precision, the paper will obtain the kinematical inverse equation with the application of inverse algorithm of the general 6R serial robot, which will also be tested by several examples.